Current technological advances open up new opportunities for bringing human-machine interaction to a new level of human-centered cooperation. In this context, a key issue is the semantic understanding of the environment in order to enable mobile robots more complex interactions and a facilitated communication with humans. Prerequisites are the vision-based registration of semantic objects and humans, where the latter are further analyzed for potential interaction partners. Despite significant research achievements, the reliable and fast registration of semantic information still remains a challenging task for mobile robots in real-world scenarios. In this paper, we present a vision-based system for mobile assistive robots to enable a semantic-aware environment perception without additional a-priori knowledge. We deploy our system on a mobile humanoid robot that enables us to test our methods in real-world applications.

In this paper, we present a method for unconstrained end-to-end head pose estimation. We address the problem of ambiguous rotation labels by introducing the rotation matrix formalism for our ground truth data and propose a continuous 6D rotation matrix representation for efficient and robust direct regression. This way, our method can learn the full rotation appearance which is contrary to previous approaches that restrict the pose prediction to a narrow-angle for satisfactory results. In addition, we propose a geodesic distance-based loss to penalize our network with respect to the SO(3) manifold geometry. Experiments on the public AFLW2000 and BIWI datasets demonstrate that our proposed method significantly outperforms other state-of-the-art methods by up to 20\%. We open-source our training and testing code along with our pre-trained models: https://github.com/thohemp/6DRepNet.

A learned system uses machine learning (ML) internally to improve performance. We can expect such systems to be vulnerable to some adversarial-ML attacks. Often, the learned component is shared between mutually-distrusting users or processes, much like microarchitectural resources such as caches, potentially giving rise to highly-realistic attacker models. However, compared to attacks on other ML-based systems, attackers face a level of indirection as they cannot interact directly with the learned model. Additionally, the difference between the attack surface of learned and non-learned versions of the same system is often subtle. These factors obfuscate the de-facto risks that the incorporation of ML carries. We analyze the root causes of potentially-increased attack surface in learned systems and develop a framework for identifying vulnerabilities that stem from the use of ML. We apply our framework to a broad set of learned systems under active development. To empirically validate the many vulnerabilities surfaced by our framework, we choose 3 of them and implement and evaluate exploits against prominent learned-system instances. We show that the use of ML caused leakage of past queries in a database, enabled a poisoning attack that causes exponential memory blowup in an index structure and crashes it in seconds, and enabled index users to snoop on each others' key distributions by timing queries over their own keys. We find that adversarial ML is a universal threat against learned systems, point to open research gaps in our understanding of learned-systems security, and conclude by discussing mitigations, while noting that data leakage is inherent in systems whose learned component is shared between multiple parties.

Cutting planes are a crucial component of state-of-the-art mixed-integer programming solvers, with the choice of which subset of cuts to add being vital for solver performance. We propose new distance-based measures to qualify the value of a cut by quantifying the extent to which it separates relevant parts of the relaxed feasible set. For this purpose, we use the analytic centers of the relaxation polytope or of its optimal face, as well as alternative optimal solutions of the linear programming relaxation. We assess the impact of the choice of distance measure on root node performance and throughout the whole branch-and-bound tree, comparing our measures against those prevalent in the literature. Finally, by a multi-output regression, we predict the relative performance of each measure, using static features readily available before the separation process. Our results indicate that analytic center-based methods help to significantly reduce the number of branch-and-bound nodes needed to explore the search space and that our multiregression approach can further improve on any individual method.

有限的公开数据可以支持恶意软件分析技术的研究。特别是，几乎没有由杜鹃/斗篷等丰富的沙盒生成的公开可用数据集。使用动态沙箱的好处是对目标机中文件执行的逼真模拟并获得该执行日志。机器可以被恶意软件感染，因此很有可能在执行日志中捕获恶意行为，从而使研究人员可以详细研究这种行为。尽管随后对日志信息的分析在工业网络安全后端被广泛介绍，但据我们所知，仅在学术界投入了有限的努力，以使用最先进的技术提高此类日志分析功能。我们使此示例数据集可用来支持设计新的机器学习方法以进行恶意软件检测，尤其是用于自动检测通用恶意行为。该数据集是在Avast软件和捷克技术大学-AI中心（AIC）之间合作的。

机器学习的进步（ML）引起了人们对这项技术支持决策的浓厚兴趣。尽管复杂的ML模型提供的预测通常比传统工具的预测更准确，但这种模型通常隐藏了用户预测背后的推理，这可能导致采用和缺乏洞察力。在这种张力的激励下，研究提出了可解释的人工智能（XAI）技术，这些技术发现了ML发现的模式。尽管ML和XAI都有很高的希望，但几乎没有经验证据表明传统企业的好处。为此，我们分析了220,185家能源零售商的客户的数据，预测具有多达86％正确性的交叉购买（AUC），并表明XAI方法的Shap提供了为实际买家提供的解释。我们进一步概述了信息系统，XAI和关系营销中的研究的影响。

自主机器人结合了各种技能，形成越来越复杂的行为，称为任务。尽管这些技能通常以相对较低的抽象级别进行编程，但它们的协调是建筑分离的，并且经常以高级语言或框架表达。几十年来，州机器一直是首选的语言，但是最近，行为树的语言在机器人主义者中引起了人们的关注。行为树最初是为计算机游戏设计的，用于建模自主参与者，提供了基于树木的可扩展的使命表示，并受到支持支持模块化设计和代码的重复使用。但是，尽管使用了该语言的几种实现，但对现实世界中的用法和范围知之甚少。行为树提供的概念与传统语言（例如州机器）有何关系？应用程序中如何使用行为树和状态机概念？我们介绍了对行为树中关键语言概念的研究及其在现实世界机器人应用中的使用。我们识别行为树语言，并将其语义与机器人技术中最著名的行为建模语言进行比较。我们为使用这些语言的机器人应用程序挖掘开源存储库并分析此用法。我们发现两种行为建模语言在语言设计及其在开源项目中的用法之间的相似性方面，以满足机器人域的需求。我们为现实世界行为模型的数据集提供了贡献，希望激发社区使用和进一步开发这种语言，相关的工具和分析技术。

气候变化所扩大的极端天气正在造成全球日益毁灭性的影响。由于高计算成本和严格的时间到解决方案限制，目前基于物理的数值天气预测（NWP）的使用限制了精度。我们报告说，数据驱动的深度学习地球系统模拟器Fourcastnet可以预测全球天气，并在接近最先进的准确性的同时，比NWP更快地产生五个量子的预测。四个超级计算系统（Selene，Perlmutter和Juwels Booster高达3,808 nvidia a100 GPU）在三个超级计算系统上进行了优化，并有效地缩放，并在混合精度中获得140.8 PETAFLOPS（该规模的峰值为11.9％）。在3,072GPU上在Juwels Booster上测量的训练四界的时间到达的时间为67.4分钟，相对于最新的NWP，在推理中，相对于最先进的NWP的时间更快。 Fourcastnet提前一周可产生准确的瞬时天气预测，使巨大的合奏更好地捕捉了极端天气，并支持更高的全球预测决议。

我们研究了从记录的匪徒反馈中进行额外学习的增强合奏模型。为了实现这一目标，我们提出了一种新的增强算法，该算法直接优化了对政策预期奖励的估计。我们分析了该算法，并证明，只要满足“弱”的学习条件，每轮增强的经验风险会随着每一轮增强而降低（可能是指数迅速）。我们进一步展示了基础学习者如何减少标准监督学习问题。实验表明，我们的算法可以胜过仅在观察到的奖励上回归的深层外部学习和方法，从而证明了增强和选择正确的学习目标的好处。

使用可能的异质动力学估算时间序列数据的价值风险是一项高度挑战的任务。通常，我们面临着一个小的数据问题，结合了高度的非线性，因此对于经典和机器学习估计算法造成了困难。在本文中，我们提出了使用长期记忆（LSTM）神经网络的新型价值估计器，并将其性能与基准GARCH估计器进行比较。我们的结果表明，即使在相对较短的时间序列中，LSTM也可以用于完善或监视风险估计过程，并以非参数方式正确识别潜在的风险动态。我们对模拟和市场数据的估计器进行了评估，重点是异方差，发现LSTM在模拟数据上表现出与GARCH估算器相似的性能，而在实际市场数据上，它对增加波动性或降低波动性更为敏感，并且优于所有现有的现有估计器在异常率和平均分位数评分方面，价值风险。